unitreerobotics/UnifoLM-WMA-0-Dual

UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family

Project Page | Code | Dataset

UnifoLM-WMA-0 is Unitree‘s first open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning. Its core component is a world-model capable of understanding the physical interactions between robots and the environments. This world-model provides two key functions: (a) Simulation Engine – operates as an interactive simulator to generate synthetic data for robot learning; (b) Policy Enhancement – connects with an action head and, by predicting future interaction processes with the world-model, further optimizes decision-making performance.

🦾 Real Robot Deployment

Note: the top-right window shows the world model’s prediction of future environmental changes.

License

The model is released under the CC BY-NC-SA 4.0 license as found in the LICENSE. You are responsible for ensuring that your use of Unitree AI Models complies with all applicable laws.

Model Architecture

Citation

@misc{unifolm-wma-0,
  author = {Unitree},
  title  = {UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family},
  year   = {2025},
}